Three-dimensional color laser scanning technology

Abstract

The invention discloses a three-dimensional color laser scanning technology capable of directly acquiring color point cloud data of a target. By the technology, information quantity of acquired data and ranging accuracy of a three-dimensional laser scanner can be increased, and dependence of color image acquisition on background lighting can be overcome. According to the technology, reflectivity of a target measure point is directly acquired by a three-wavelength laser, in other words, color point information of the target is acquired directly, and dependence on daytime lighting and CCD(charge-coupled device) cameras is avoided, so that splicing errors of color image data and point cloud data are avoided, nonuniform image sharpness caused by distance change is also avoided, and all-day high-repetition-frequency long-range detection can be realized.

Description

1. Technical field [0001] The invention relates to a laser radar and a laser three-dimensional scanner, and is a color laser three-dimensional scanning technology capable of realizing all-day, high repetition frequency and long-distance detection. 2. Background technology [0002] Traditional laser 3D scanners use monochromatic lasers, use pulse time-of-flight measurement and delayed phase measurement to obtain the distance of the target point, and combined with the scanning angle, can obtain the 3D point coordinates of the target or scene. Measuring the intensity of the echo of the laser on the surface of the object can simultaneously obtain the grayscale (reflectivity) of the object to form a three-dimensional point cloud data with grayscale information. Using grayscale point cloud to model the scanned scene can only obtain a monochromatic 3D scene model. In order to reflect the scene information more intuitively and truly, a color camera is currently used to take two-dime...

AI Technical Summary

Problems solved by technology

[0003] 1. The pixels of the point cloud and the color image cannot be completely matched;

[0004] 2. There are errors in the synthesis of point clouds and color images at different distances;

[0005] 3. The color image of the camera depends on the lighting conditions, and the color information of the scen

Images